CN105666503B - Send pallet and transportation robot in a kind of end of transportation robot - Google Patents
Send pallet and transportation robot in a kind of end of transportation robot Download PDFInfo
- Publication number
- CN105666503B CN105666503B CN201610236045.8A CN201610236045A CN105666503B CN 105666503 B CN105666503 B CN 105666503B CN 201610236045 A CN201610236045 A CN 201610236045A CN 105666503 B CN105666503 B CN 105666503B
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- Prior art keywords
- permanent magnet
- pallet
- movable plate
- coil
- sent
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Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47G—HOUSEHOLD OR TABLE EQUIPMENT
- A47G23/00—Other table equipment
- A47G23/06—Serving trays
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D19/00—Pallets or like platforms, with or without side walls, for supporting loads to be lifted or lowered
- B65D19/38—Details or accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D19/00—Pallets or like platforms, with or without side walls, for supporting loads to be lifted or lowered
- B65D19/0002—Platforms, i.e. load supporting devices without provision for handling by a forklift
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D19/00—Pallets or like platforms, with or without side walls, for supporting loads to be lifted or lowered
- B65D19/0004—Rigid pallets without side walls
- B65D19/0006—Rigid pallets without side walls the load supporting surface being made of a single element
- B65D19/0008—Rigid pallets without side walls the load supporting surface being made of a single element forming a continuous plane contact surface
- B65D19/001—Rigid pallets without side walls the load supporting surface being made of a single element forming a continuous plane contact surface the base surface being made of a single element
- B65D19/0012—Rigid pallets without side walls the load supporting surface being made of a single element forming a continuous plane contact surface the base surface being made of a single element forming a continuous plane contact surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D2519/00—Pallets or like platforms, with or without side walls, for supporting loads to be lifted or lowered
- B65D2519/00004—Details relating to pallets
- B65D2519/00258—Overall construction
- B65D2519/00263—Overall construction of the pallet
- B65D2519/00273—Overall construction of the pallet made of more than one piece
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D2519/00—Pallets or like platforms, with or without side walls, for supporting loads to be lifted or lowered
- B65D2519/00004—Details relating to pallets
- B65D2519/00736—Details
- B65D2519/00776—Accessories for manipulating the pallet
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Reciprocating, Oscillating Or Vibrating Motors (AREA)
- Non-Mechanical Conveyors (AREA)
Abstract
The invention discloses a kind of end of transportation robot to send pallet and transportation robot.The end of transportation robot send pallet to include fixed disk, can be relatively fixed the movable plate of disk movement, several stabilization drive devices being arranged on fixed disk, the shaking detection device being arranged on movable plate, and control device, wherein：Shaking detection device is used for the wobble information for detecting movable plate；Control device electrically connects with shaking detection device and several stabilization drive devices, for the wobble information according to movable plate, controls several stabilization drive devices to be moved towards the direction opposite with jitter direction.When end send pallet that jitter phenomenon occurs, stabilization drive device driving movable plate moves towards the direction opposite with jitter direction, and then opposite end send the shake of pallet to be modified, end is set to send pallet more steady, so as to which anti-not-go-end send food on pallet or liquid to spill, thus its to transport the security of object higher.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of end of transportation robot to send pallet and transportation machines
People.
Background technology
In the last few years, with the development of science and technology, more and more new and high technology product, such as robot, gradually oozes
Arrive thoroughly among the life of people.Robot is the automatic installations for performing work, and it is advanced integral traffic control opinion, mechanical electric
Son, computer, material and bionic product, it can both receive mankind commander, the program of advance layout can also be run, may be used also
With according to the principle guiding principle action formulated with artificial intelligence technology.Robot can assist or substitute some operations of the mankind,
Such as production line operation, constructions work or some high-risk operations, have in the fields such as industry, medical science, agricultural and military affairs
Important use.
At present, in catering field, meal delivery robot also begins to occur gradually among the visual field of people, meal delivery robot one
As use anthropomorphic outward appearance, its both hands is lifted send pallet in front to hold, foot using motor in-wheel driving realize walking.Generally,
Meal delivery robot is furnished with dedicated track, identifies track using photoelectricity or camera and positions.Sent using meal delivery robot
Meal can reduce attendant's quantity in dining room, and lift the brand image in dining room.
However, existing meal delivery robot during room service is provided, can usually be trembled due to various emergency cases
It is dynamic, cause food or liquid to spill, this leverages the security of meal delivery robot food delivery.
The content of the invention
It is an object of the invention to provide a kind of end of transportation robot to send pallet and transportation robot, to reduce transportation machines
The jitter phenomenon of pallet is sent at the end of people, and then improves the security of transportation robot transport object.
The embodiment of the present invention provides a kind of end of transportation robot and send pallet, including fixed disk, can be relatively fixed disk movement
Movable plate, several stabilization drive devices being arranged on fixed disk, the shaking detection device being arranged on movable plate, with
And control device, wherein：The shaking detection device is used for the wobble information for detecting movable plate；The control device is examined with shake
Device and the electrical connection of several described stabilization drive devices are surveyed, for the wobble information according to movable plate, controls several anti-
Drive device driving movable plate is shaken to move towards the direction opposite with jitter direction.
In embodiments of the present invention, when end send pallet that jitter phenomenon occurs, stabilization drive device driving movable plate court
Moved to the direction opposite with jitter direction, and then opposite end send the shake of pallet to be modified, and makes end send pallet more steady, from
And anti-not-go-end send food on pallet or liquid to spill, thus its to transport the security of object higher.
Preferably, the fixed disk has accommodation space, and the movable plate is arranged in the accommodation space of fixed disk and can
Disk is relatively fixed to move horizontally, several described stabilization drive devices be arranged at movable side surface and fixed disk madial wall it
Between.
Preferably, the movable plate is rectangle movable plate, and at least two adjacent end faces of the rectangle movable plate are with consolidating
Stabilization drive device is respectively arranged between price fixing madial wall.
Preferably, the bottom of the movable plate is provided with ball, or, the inner bottom wall of the fixed disk is provided with ball.
Using such design, it is possible to reduce movable plate is relatively fixed frictional force during disk motion.
Specifically, the stabilization drive device includes：Connecting pole, shell and the fixed column being arranged in shell,
One coil, multiple first permanent magnets and elastic component, wherein：The shell include base, top cover and positioned at base and top cover it
Between yoke, the top cover has the hole that pass through for avoiding first coil and fixed column, and the connecting pole passes through wearing for the top cover
Via is connected with fixed column；The first coil is sheathed on the outside of fixed column, and the multiple first permanent magnet is arranged in First Line
On the outside of circle and identical towards the side magnetic of first coil, the yoke is connected with the outside of the multiple first permanent magnet, institute
State elastic component connected with outer casing and fixed column.
Preferably, the elastic component is plane spring, and the plane spring includes outer ring, inner ring and connection outer ring and interior
The spring silk of circle, the inner ring are connected with fixed column, the outer ring and cage connection.
More excellent, the plane spring is two, and the outer ring of one of plane spring is connected with top cover, another plane
The outer ring of spring is connected with base.
Specifically, the first coil is rectangle first coil, the quantity of first permanent magnet is four, four first
Permanent magnet is respectively arranged at four sides of first coil.
Preferably, the connecting pole is fixedly connected with the movable plate.In this embodiment, stabilization drive device passes through
Connecting pole is fixedly connected with movable plate, and the thrust opposite with jitter direction can be not only provided for movable plate, can also be movable
Disk provides the pulling force opposite with jitter direction, thus the jitter phenomenon of pallet is sent at the end for greatly reducing transportation robot.
Preferably, the fixed column is magnetic conduction fixed column.
Specifically, the end send pallet also to include permanent magnet fixture, the stabilization drive device includes：Second line
Circle, second coil are fixedly connected with movable plate；First set positioned at the second coil both ends and with the second coil spacing is forever
Group of magnets and the second permanent magnet group, the first permanent magnet group are fixedly connected with permanent magnet fixture, including the second permanent magnet and the 3rd
Permanent magnet, the second permanent magnet group are fixedly connected with fixed disk, including relative with the second permanent magnet and the 3rd permanent magnet difference position
The 4th permanent magnet and the 5th permanent magnet, the side magnetic phase of second permanent magnet and the 3rd permanent magnet towards the second coil
Instead, the 4th permanent magnet and the 5th permanent magnet are towards the side magnetic of the second coil on the contrary, second permanent magnet and the 4th
The side magnetic of permanent magnet towards the second coil is opposite；Return spring, one end of the return spring are connected with fixed disk, the other end with
Movable plate connects.
Optionally, the shaking detection device includes gyroscope or accelerometer.
The embodiment of the present invention additionally provides a kind of transportation robot, including the transporter described in any of the above-described technical scheme
Send pallet in the end of device people.The stabilization kinetic force of the transportation robot is stronger, and the security for transporting object is higher.
Brief description of the drawings
Fig. 1 is the top view that pallet is sent at end of the embodiment of the present invention；
Fig. 2 is the sectional view that pallet is sent at first embodiment of the invention end；
Fig. 3 is the structural representation of first embodiment of the invention stabilization drive device；
Fig. 4 is the sectional view of first embodiment of the invention stabilization drive device；
Fig. 5 is the explosive view of first embodiment of the invention stabilization drive device；
Fig. 6 is the top view of first embodiment of the invention elastic component；
Fig. 7 is the top view that pallet is sent at second embodiment of the invention end；
Fig. 8 is that second embodiment of the invention end send pallet to remove the top view after permanent magnet fixture；
Fig. 9 is the sectional view that pallet is sent at second embodiment of the invention end.
Description of reference numerals：
10- fixed disks
11- movable plates
12- stabilization drive devices
13- control devices
14- shaking detection devices
15- balls
16- permanent magnet fixtures
120- connecting poles
121- passes through hole
122- top covers
123- elastic components
124- yokes
125- locating dowels
126- first coils
The permanent magnets of 127- first
128 bases
1230- outer rings
1231- spring silks
1232- inner rings
The coils of 226- second
2260- Part I
2261- Part II
The permanent magnet groups of 2271- first
The permanent magnets of 2271a- second
The permanent magnets of 2271b- the 3rd
The permanent magnet groups of 2272- second
The permanent magnets of 2272a- the 3rd
The permanent magnets of 2272b- the 4th
223- return springs
Embodiment
In order to reduce the jitter phenomenon that pallet is sent at the end of transportation robot, and then improve the peace of transportation robot transport object
Quan Xing, the embodiments of the invention provide a kind of end of transportation robot to send pallet and transportation robot.
As shown in figure 1, pallet, including fixed disk 10 are sent in the end of transportation robot provided in an embodiment of the present invention, can be relative
The movable plate 11 of fixed disk movement, several stabilization drive devices 12 being arranged on fixed disk, is arranged on movable plate
Shaking detection device 14, and control device 13, wherein：
Shaking detection device 14 is used for the wobble information for detecting movable plate；
Control device 13 electrically connects with shaking detection device 14 and several stabilization drive devices 12, for according to movable
The wobble information of disk, several stabilization drive devices driving movable plate is controlled to be moved towards the direction opposite with jitter direction.
In the above-described embodiments, the wobble information of movable plate can specifically include the jitter amplitude and jitter direction of shake disk
Etc..The particular type of shaking detection device is unlimited, such as can be gyroscope or accelerometer etc., in addition, stabilization
The specific installation site of drive device is also unlimited, such as may be mounted at upper and lower both sides or the arranged on left and right sides of movable plate, this
Sample, when end send pallet that the shake of above-below direction or left and right directions occurs, stabilization drive device can realize that support is sent at end
The shake amendment of disk.
In embodiments of the present invention, when end send pallet that jitter phenomenon occurs, stabilization drive device driving movable plate court
Moved to the direction opposite with jitter direction, and then opposite end send the shake of pallet to be modified, and makes end send pallet more steady, from
And anti-not-go-end send food on pallet or liquid to spill, thus its to transport the security of object higher.
In one particular embodiment of the present invention, fixed disk 10 has accommodation space, and movable plate 11 is arranged at fixed disk
Accommodation space in and disk can be relatively fixed move horizontally, several stabilization drive devices 12 be arranged at the end face of movable plate 11 with
Between the madial wall of fixed disk 10.
Preferably, movable plate is rectangle movable plate, at least two adjacent end faces of rectangle movable plate and fixed disk inner side
Stabilization drive device is respectively arranged between wall.Using such design, stabilization drive device can apply to movable plate
The pulling force opposite with jitter direction or thrust, and then complete the shake makeover process that pallet is sent in opposite end.
More excellent, refer to shown in Fig. 2 and Fig. 9, the bottom of movable plate is provided with ball 15, or, the interior bottom of fixed disk
Wall is provided with ball 15.Designed using such rolling friction, it is possible to reduce movable plate is relatively fixed frictional force during disk motion.
The concrete structure type of stabilization drive device is unlimited, only lifts two specific embodiments below to illustrate that stabilization is driven
The structure of dynamic device, but the structure of stabilization drive device is not limited to this, such as can be motor or driving horse
Up to etc., in addition, the structure of the stabilization drive device of every structural framing based on the present invention, the protection model in the present invention
In enclosing.
In the first embodiment of the present invention, as shown in Fig. 3~Fig. 5, stabilization drive device includes：
Connecting pole 120, shell and the fixed column 125 being arranged in shell, first coil 126, multiple first permanent magnets
127 and elastic component 123, wherein：
Shell includes base 128, top cover 122 and the yoke 124 between base and top cover, and top cover, which has, avoids the
One coil and fixed column pass through hole 121, and connecting pole 120 is connected through top cover through hole 121 with fixed column 125；
First coil 126 is sheathed on the outside of fixed column 125, and multiple first permanent magnets 127 are arranged in the outside of first coil 126
And it is identical towards the side magnetic of first coil 126, yoke 124 is connected with the outside of multiple first permanent magnets 127, elastic component
123 connected with outer casing and fixed column.
In this embodiment, control device electrically connects with shaking detection device and stabilization drive device, when pallet is sent at end
When shaking, control device sends electric signal to stabilization drive device, now, passes through electric current, Duo Ge in first coil
One permanent magnet is identical towards the side magnetic of first coil, and according to Ampere's law, coil will be by towards base direction or far
From the Ampere force in base direction, the direction of the Ampere force and end send the jitter direction of pallet on the contrary, thus, in the effect of Ampere force
Under, stabilization drive device driving movable plate moves towards the direction opposite with jitter direction, in this motion process, elastic component
Certain elastic deformation can occur, thus in the presence of elastic component, stabilization drive device can be recovered to stablize shape after exercise
State, and then movable plate can also recover stable state after exercise, so as to complete the shake makeover process that pallet is sent in opposite end.
Wherein, the particular type of fixed column is unlimited, it is preferred to use magnetic conduction fixed column；The particular type of elastic component is unlimited, example
It such as can be plane spring, when elastic component is plane spring, refer to shown in Fig. 6, plane spring includes outer ring 1230, interior
Circle 1232 and the spring silk 1231 of connection outer ring and inner ring, wherein, inner ring is connected with fixed column, outer ring and cage connection.
Preferably, the quantity of plane spring is two, and the outer ring of one of plane spring is connected with top cover, and another is flat
The outer ring of diaphragm flexures is connected with base.
Specifically, first coil is rectangle first coil, accordingly, the quantity of the first permanent magnet is four, four first
Permanent magnet is respectively arranged at four sides of first coil.
Preferably, connecting pole is fixedly connected with movable plate.In this embodiment, stabilization drive device by connecting pole with
Movable plate is fixedly connected, and the thrust opposite with jitter direction can be not only provided for movable plate, can also be provided for movable plate with
The opposite pulling force of jitter direction, thus the jitter phenomenon of pallet is sent at the end for greatly reducing transportation robot.
In the second embodiment of the present invention, as shown in Fig. 7~Fig. 9, end send pallet also to include permanent magnet fixture 16, prevents
Shake drive device includes：
Second coil 226, the second coil 226 are fixedly connected with movable plate 11；
The first permanent magnet group 2271 and the second permanent magnet group set positioned at the second coil both sides and with the second coil spacing
2272, the first permanent magnet group 2271 is fixedly connected with permanent magnet fixture 16, including the second permanent magnet 2271a and the 3rd permanent magnet
2271b, the second permanent magnet group 2272 are fixedly connected with fixed disk 10, including distinguish position with the second permanent magnet and the 3rd permanent magnet
The one of the 4th relative permanent magnet 2272a and the 5th permanent magnet 2272b, the second permanent magnet and the 3rd permanent magnet the second coil of direction
Side magnetic on the contrary, the 4th permanent magnet and the 5th permanent magnet towards the second coil side magnetic on the contrary, the second permanent magnet and the 4th
The side magnetic of permanent magnet towards the second coil is opposite；
Return spring 223, one end of return spring are connected with fixed disk 10, and the other end is connected with movable plate 11.
In this embodiment, control device electrically connects with shaking detection device and stabilization drive device, when pallet is sent at end
When shaking, control device sends electric signal to stabilization drive device, now, passes through electric current, the second line in the second coil
Circle is divided into Part I 2260 and Part II 2261, Part I 2260 and Part II 2261 according to the difference of the sense of current
The sense of current on the contrary, and the magnetic direction of Part I and Part II also on the contrary, according to Ampere's law, Part I and
Two parts by equidirectional Ampere force, the direction of the Ampere force and end send the jitter direction of pallet on the contrary, thus, in ampere
In the presence of power, stabilization drive device driving movable plate moves towards the direction opposite with jitter direction, in this motion process
In, certain elastic deformation can occur for return spring, thus in the presence of return spring, stabilization drive device after exercise can be extensive
Multiple stable state, and then movable plate can also recover stable state after exercise, send the shake of pallet to correct so as to complete opposite end
Journey.
The embodiment of the present invention provides a kind of transportation robot, including support is sent at the end of the transportation robot of foregoing any embodiment
Disk.The stabilization kinetic force of the transportation robot is stronger, and the security for transporting object is higher.
Obviously, those skilled in the art can carry out the essence of various changes and modification without departing from the present invention to the present invention
God and scope.So, if these modifications and variations of the present invention belong to the scope of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to comprising including these changes and modification.
Claims (11)
1. pallet is sent at a kind of end of transportation robot, it is characterised in that including fixed disk, can be relatively fixed the movable of disk movement
Disk, several stabilization drive devices being arranged on fixed disk, the shaking detection device being arranged on movable plate, and control
Device, wherein：
The shaking detection device is used for the wobble information for detecting movable plate；
The control device electrically connects with shaking detection device and several described stabilization drive devices, for according to movable plate
Wobble information, control several stabilization drive devices driving movable plate to be transported towards the direction opposite with jitter direction
It is dynamic；
The stabilization drive device includes：
Connecting pole, shell and the fixed column being arranged in shell, first coil, multiple first permanent magnets and elastic component, wherein：
The shell includes base, top cover and the yoke between base and top cover, and the top cover, which has, avoids First Line
Circle and the hole that passes through of fixed column, the connecting pole are connected through the top cover through hole with fixed column；
The first coil is sheathed on the outside of fixed column, and the multiple first permanent magnet is arranged on the outside of first coil and towards the
The side magnetic of one coil is identical, and the yoke is connected with the outside of the multiple first permanent magnet, and the elastic component connection is outer
Shell and fixed column；Or
The end send pallet also to include permanent magnet fixture, and the stabilization drive device includes：
Second coil, second coil are fixedly connected with movable plate；
The first permanent magnet group and the second permanent magnet group set positioned at the second coil both sides and with the second coil spacing, the first permanent magnetism
Iron group is fixedly connected with permanent magnet fixture, including the second permanent magnet and the 3rd permanent magnet, the second permanent magnet group are consolidated with fixed disk
Fixed connection, including fourth permanent magnet and fiveth permanent magnet relative with the second permanent magnet and the 3rd permanent magnet difference position, it is described
The side magnetic of second permanent magnet and the 3rd permanent magnet the second coil of direction is on the contrary, the 4th permanent magnet and the 5th permanent magnet court
To the side magnetic of the second coil on the contrary, side magnetic phase of second permanent magnet with the 4th permanent magnet towards the second coil
Instead；
Return spring, one end of the return spring are connected with fixed disk, and the other end is connected with movable plate.
2. pallet is sent at end as claimed in claim 1, it is characterised in that the fixed disk has accommodation space, the movable plate
It is arranged in the accommodation space of fixed disk and disk can be relatively fixed and move horizontally, several described stabilization drive devices is arranged at
Movably between side surface and fixed disk madial wall.
3. pallet is sent at end as claimed in claim 2, it is characterised in that the movable plate is rectangle movable plate, and the rectangle can
Stabilization drive device is respectively arranged between at least two adjacent end faces of Moving plate and fixed disk madial wall.
4. pallet is sent at end as claimed in claim 3, it is characterised in that the bottom of the movable plate is provided with ball, or, institute
The inner bottom wall for stating fixed disk is provided with ball.
5. pallet is sent at end as claimed in claim 1, it is characterised in that the elastic component is plane spring, the plane spring
Including outer ring, inner ring and the spring silk of connection outer ring and inner ring, the inner ring is connected with fixed column, and the outer ring connects with shell
Connect.
6. pallet is sent at end as claimed in claim 5, it is characterised in that the plane spring is two, one of plane bullet
The outer ring of spring is connected with top cover, and the outer ring of another plane spring is connected with base.
7. pallet is sent at end as claimed in claim 1, it is characterised in that the first coil is rectangle first coil, described the
The quantity of one permanent magnet is four, and four the first permanent magnets are respectively arranged at four sides of first coil.
8. pallet is sent at end as claimed in claim 1, it is characterised in that the connecting pole is fixedly connected with the movable plate.
9. pallet is sent at end as claimed in claim 1, it is characterised in that the fixed column is magnetic conduction fixed column.
10. pallet is sent at the end as described in any one of claim 1~9, it is characterised in that the shaking detection device includes gyro
Instrument or accelerometer.
11. a kind of transportation robot, it is characterised in that including the transportation robot as described in any one of claim 1~10
Send pallet in end.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610236045.8A CN105666503B (en) | 2016-04-15 | 2016-04-15 | Send pallet and transportation robot in a kind of end of transportation robot |
| PCT/CN2016/099330 WO2017177617A1 (en) | 2016-04-15 | 2016-09-19 | Carrying tray and transportation robot comprising same |
| US15/527,815 US20180194514A1 (en) | 2016-04-15 | 2016-09-19 | Transfer tray and transport robot comprising the same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610236045.8A CN105666503B (en) | 2016-04-15 | 2016-04-15 | Send pallet and transportation robot in a kind of end of transportation robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105666503A CN105666503A (en) | 2016-06-15 |
| CN105666503B true CN105666503B (en) | 2017-11-10 |
Family
ID=56309692
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610236045.8A Active CN105666503B (en) | 2016-04-15 | 2016-04-15 | Send pallet and transportation robot in a kind of end of transportation robot |
Country Status (3)
| Country | Link |
|---|---|
| US (1) | US20180194514A1 (en) |
| CN (1) | CN105666503B (en) |
| WO (1) | WO2017177617A1 (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105666503B (en) * | 2016-04-15 | 2017-11-10 | 京东方科技集团股份有限公司 | Send pallet and transportation robot in a kind of end of transportation robot |
| CN109516336A (en) * | 2018-12-29 | 2019-03-26 | 刘英辉 | The control method of linear drive apparatus, safety tongs device and elevator device |
| CN110074635A (en) * | 2019-04-09 | 2019-08-02 | 哈尔滨理工大学 | The pallet of function of safety protection is had in a kind of Chuan Cai robot |
| CN113580169B (en) * | 2021-08-26 | 2023-06-06 | 上海擎朗智能科技有限公司 | Shock attenuation tray mechanism and delivery robot |
| WO2023138561A1 (en) * | 2022-01-19 | 2023-07-27 | 深圳市普渡科技有限公司 | Spill prevention apparatus and delivery robot |
| CN115593749B (en) * | 2022-10-19 | 2023-07-28 | 杭州易闻科技有限公司 | Anti-shake gripping apparatus, carrying tray and truss structure thereof |
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| JPH07156091A (en) * | 1993-11-30 | 1995-06-20 | Tokin Corp | Linear actuator |
| US5863177A (en) * | 1996-10-02 | 1999-01-26 | Cbw Automation, Inc. | Apparatus and method for handling lids |
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| KR100983828B1 (en) * | 2008-02-01 | 2010-09-27 | 이희만 | A iron material palette |
| CN203565296U (en) * | 2013-08-27 | 2014-04-30 | 上海航空电器有限公司 | Self-adaptive glue dispensing tool |
| CN203804647U (en) * | 2014-05-20 | 2014-09-03 | 广东工业大学 | Adjustable rigidity and frequency two-dimensional micro-motion platform based on the principle of stress stiffening |
| CN203889215U (en) * | 2014-05-30 | 2014-10-22 | 徐�明 | Show tray |
| CN104908022B (en) * | 2015-06-04 | 2016-11-30 | 昆山穿山甲机器人有限公司 | A kind of meal delivery robot base of smooth running |
| CN204660503U (en) * | 2015-06-09 | 2015-09-23 | 哈尔滨建成北方专用车有限公司 | Rotary push-pull type linkage locking-fixing device in a kind of freight container or van transporter |
| CN105666503B (en) * | 2016-04-15 | 2017-11-10 | 京东方科技集团股份有限公司 | Send pallet and transportation robot in a kind of end of transportation robot |
-
2016
- 2016-04-15 CN CN201610236045.8A patent/CN105666503B/en active Active
- 2016-09-19 WO PCT/CN2016/099330 patent/WO2017177617A1/en active Application Filing
- 2016-09-19 US US15/527,815 patent/US20180194514A1/en not_active Abandoned
Also Published As
| Publication number | Publication date |
|---|---|
| WO2017177617A1 (en) | 2017-10-19 |
| CN105666503A (en) | 2016-06-15 |
| US20180194514A1 (en) | 2018-07-12 |
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